Added a test to check all robot model parametrizations

[urfeex]

This PR adds a workflow to check the robot model as reported from the primary interface with the model argument provided to start_ursim.sh.

This also fixes passing ur7e or ur12e to PolyScope 5.

To reduce build resources, this PR splits the integration tests into a "build" stage and two "test" stages utilizing that build. This probably doesn't save any time, but build resources and makes handling a failed build easier.

---

Note

Medium Risk
Moderate risk because it restructures CI execution and modifies start_ursim.sh model normalization for UR7e/UR12e, which could break integration test orchestration or URSim startup if misconfigured.

Overview
Splits the integration workflow into a dedicated Ubuntu build job and downstream test jobs by archiving/uploading the CMake build directory and reusing it in run_tests (and a new check job), reducing repeated compilation.

Adds a new CI job to validate robot model parametrizations across many URSim versions/models by running only PrimaryClientTest.test_robot_type and reporting coverage with distinct Codecov flags.

Fixes UR7e/UR12e handling in scripts/start_ursim.sh so PolyScope 5 strips the trailing e while PolyScope X keeps UR7e/UR12e, with updated Bats assertions.

Introduces robotTypeFromString in helpers and a new GTest that compares the primary interface-reported robot type against the ROBOT_MODEL env var mapping (including UR7e→UR5 and UR12e→UR10).

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[codecov]

Codecov Report

❌ Patch coverage is 86.66667% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 76.66%. Comparing base (8f35234) to head (3cb96c9).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
src/helpers.cpp	83.33%	1 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #505      +/-   ##
==========================================
- Coverage   76.96%   76.66%   -0.31%     
==========================================
  Files         116      116              
  Lines        6342     6354      +12     
  Branches     2761     2764       +3     
==========================================
- Hits         4881     4871      -10     
- Misses       1112     1134      +22     
  Partials      349      349              

Flag	Coverage Δ
check_version_ur10-3.15.8	11.08% <83.33%> (?)
check_version_ur10e-10.11.0	11.73% <83.33%> (?)
check_version_ur10e-5.15.2	11.73% <83.33%> (?)
check_version_ur12e-10.12.1	11.78% <83.33%> (?)
check_version_ur15-10.12.1	11.73% <83.33%> (?)
check_version_ur15-5.25.1	11.73% <83.33%> (?)
check_version_ur16e-10.12.1	11.78% <83.33%> (?)
check_version_ur16e-5.25.1	11.73% <83.33%> (?)
check_version_ur18-10.12.1	11.73% <83.33%> (?)
check_version_ur18-5.25.1	11.78% <83.33%> (?)
check_version_ur20-10.12.1	11.73% <83.33%> (?)
check_version_ur20-5.25.1	11.73% <83.33%> (?)
check_version_ur3-3.14.3	11.08% <83.33%> (?)
check_version_ur30-10.12.1	11.78% <83.33%> (?)
check_version_ur30-5.25.1	11.73% <83.33%> (?)
check_version_ur3e-10.11.0	11.73% <83.33%> (?)
check_version_ur3e-5.9.4	11.78% <83.33%> (?)
check_version_ur5e-10.11.0	11.78% <83.33%> (?)
check_version_ur5e-5.12.8	11.93% <83.33%> (?)
check_version_ur7e-10.11.0	11.73% <83.33%> (?)
check_version_ur7e-5.22.2	11.73% <83.33%> (?)
check_version_ur8long-10.12.1	11.73% <83.33%> (?)
check_version_ur8long-5.25.1	11.93% <83.33%> (?)
python_scripts	75.90% <ø> (ø)
start_ursim	83.57% <100.00%> (-1.46%)	⬇️
ur20-latest	72.76% <0.00%> (-0.32%)	⬇️
ur5e-10.11.0	66.80% <0.00%> (-0.41%)	⬇️
ur5e-10.12.0	67.86% <0.00%> (-0.48%)	⬇️
ur5e-10.7.0	66.51% <0.00%> (+0.05%)	⬆️
ur5e-5.9.4	73.28% <0.00%> (-0.45%)	⬇️

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[cursor]

Cursor Bugbot has reviewed your changes using default mode and found 1 potential issue.

^{Reviewed by Cursor Bugbot for commit 3cb96c9. Configure here.}

[cursor]

Coverage steps lost !cancelled() guard condition

Low Severity

The install gcovr, gcovr, and Upload coverage reports steps in run_tests previously had if: ${{ !cancelled() && steps.build.outcome == 'success' }}, ensuring coverage was collected even when tests failed. Removing the entire condition (rather than just the now-invalid steps.build.outcome check) means these steps default to success() and won't run on test failure — silently dropping coverage data. The Upload test results step at line 116 correctly kept !cancelled(), making this inconsistency look like an oversight.

 

^{Reviewed by Cursor Bugbot for commit 3cb96c9. Configure here.}